#pragma platform(VEX)

//Competition Control and Duration Settings
#pragma competitionControl(Competition)
#pragma autonomousDuration(20)
#pragma userControlDuration(120)

#include "Vex_Competition_Includes.c"   //Main competition background code...do not modify!

/////////////////////////////////////////////////////////////////////////////////////////
//
//                          Pre-Autonomous Functions
//
// You may want to perform some actions before the competition starts. Do them in the
// following function.
//
/////////////////////////////////////////////////////////////////////////////////////////

void pre_auton()
{
	// Set bStopTasksBetweenModes to false if you want to keep user created tasks running between
	// Autonomous and Tele-Op modes. You will need to manage all user created tasks if set to false.
	bStopTasksBetweenModes = true;

	// All activities that occur before the competition starts
	// Example: clearing encoders, setting servo positions, ...
}

/////////////////////////////////////////////////////////////////////////////////////////
//
//                                 Autonomous Task
//
// This task is used to control your robot during the autonomous phase of a VEX Competition.
// You must modify the code to add your own robot specific commands here.
//
/////////////////////////////////////////////////////////////////////////////////////////

task autonomous()
{
	// .....................................................................................
	// Insert user code here.
	// .....................................................................................

	AutonomousCodePlaceholderForTesting();  // Remove this function call once you have "real" code.
}

/////////////////////////////////////////////////////////////////////////////////////////
//
//                                 User Control Task
//
// This task is used to control your robot during the user control phase of a VEX Competition.
// You must modify the code to add your own robot specific commands here.
//
/////////////////////////////////////////////////////////////////////////////////////////
void servo127(){
	motor[port9] = 127;
}

void servo0(){
	motor[port9] = 0;
}

void servoNeg127(){
	motor[port9] = -127;
}

task usercontrol()
{
	// User control code here, inside the loop

	while (true)
	{
		if(vexRT[Btn7U]){  //ArmUp
			servo127();
		}
		else if(vexRT[Btn7D]) {
			servo0();
		}
		else if(vexRT[Btn7R]) {
			servoNeg127();
		}
	}
}
